The truck, carrying more than 30 pilgrims, skidded off the road and into the gorge late Thursday evening, some 50km from the Kashmiri winter capital Jammu, a police spokesman said.
"The truck rolled over. 16 people were killed and another 16 were injured," the spokesman told AFP.
The victims had all taken part in an annual pilgrimage - one of the oldest in the world - to the Amarnath cave in the Kashmir Himalaya, which houses a natural stalagmite worshipped as a symbol of Shiva, the god of destruction.
Hundreds of thousands of Hindus visit the cave every summer, trekking to altitudes of 15,000 feet along narrow, winding paths that criss-cross steep valleys.
Two weeks ago 15 pilgrims died in Indian Kashmir when their bus skidded off the road into a different gorge.
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